Abstract:This work studies the control optimization of a self-propelled capsule moving in the small intestine for endoscopic diagnosis. For this purpose, we combine an existing capsule model with the intestinal peristalsis and its internal environment in order to gain a better understanding of dynamics of the self-propelled capsule. For the optimization study, a number of different realistic targets are considered, including the capsule's average progression speed, the impact force acting on the small intestine and the… Show more
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